Classifications

• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions

Definitions

• the present disclosure relates generally to systems and methods for improving drilling operations. More particularly, the present disclosure relates to systems and methods that may be implemented in cooperation with hydrocarbon- related drilling operations to improve drilling performance.
• the oil and gas industry incurs substantial operating costs to drill wells in the exploration and development of hydrocarbon resources.
• the cost of drilling wells may be considered to be a function of time due to the equipment and manpower expenses being based on time.
• the drilling time can be minimized in at least two ways: 1 ) maximizing the Rate-of-Penetration (ROP) (i.e., the rate at which a drill bit penetrates the earth); and 2) minimizing the non-drilling rig time (e.g., time spent tripping equipment to replace or repair equipment, constructing the well during drilling, such as to install casing, and/or performing other treatments on the well).
• ROP Rate-of-Penetration
• Past efforts have attempted to address each of these approaches.
• drilling equipment is constantly evolving to improve both the longevity of the equipment and the effectiveness of the equipment at promoting a higher ROP.
• various efforts have been made to model and/or control drilling operations to avoid equipment-damaging and/or ROP limiting conditions, such as vibrations, bit- balling, etc.
• 6,382,331 each provide models and equations for use in increasing the ROP.
• the operator collects data regarding a drilling operation and identifies a single control variable that can be varied to increase the rate of penetration.
• the control variable is Weight On Bit (WOB); the relationship between WOB and ROP is modeled; and the WOB is varied to increase the ROP. While these methods may result in an increased ROP at a given point in time, this specific parametric change may not be in the best interest of the overall drilling performance in all circumstances. For example, bit failure and/or other mechanical problems may result from the increased WOB and/or ROP.
• WOB Weight On Bit
• one or more drilling variables can be changed to overcome the founder limiter and increase the ROP.
• the MSE pattern may indicate that bit-balling is limiting the ROP.
• Various measures may be taken to clear the cuttings from the bit and improve the ROP, either during the ongoing drilling operation or by tripping and changing equipment.
• US patent 5,842,149 disclosed a close-loop drilling system intended to automatically adjust drilling parameters.
• this system requires a look-up table to provide the relations between ROP and drilling parameters. Therefore, the optimization results depend on the effectiveness of this table and the methods used to generate this data, and consequently, the system may lack adaptability to drilling conditions which were not included in the table.
• Another limitation is that downhole data is required to perform the optimization.
• improved systems and methods should be able to correctly model dynamics between changes in drilling variables and the consequences in ROP and/or MSE (or other measurable parameter of drilling performance).
• Improved systems and methods may additionally or alternatively be adapted to identify efficient and safe zones of operations in light of the multitude of variables that can affect the drilling performance, only some of which are controllable and/or measurable.
• improved systems and methods may be adaptive to react to changes in drilling conditions in real time, such as responding to lithology changes or other uncontrollable changes in drilling conditions.
• the present methods are directed to methods and systems for use in drilling a wellbore, such as wellbore used in hydrocarbon production related operations.
• An exemplary method includes: 1 ) receiving data regarding drilling parameters characterizing ongoing wellbore drilling operations, wherein at least one of the drilling parameters is controllable; 2) utilizing a statistical model to identify at least one controllable drilling parameters having significant correlation to an objective function incorporating two or more drilling performance measurements; 3) generating operational recommendations for at least one controllable drilling parameter, wherein the operational recommendations are selected to optimize the objective function; 4) determining operational updates to at least one controllable drilling parameter based at least in part on the generated operational recommendations; and 5) implementing at least one of the determined operational updates in the ongoing drilling operations.
• the present disclosure is further directed to computer-based systems for use in association with drilling operations.
• Exemplary computer-based systems may include: 1 ) a processor adapted to execute instructions; 2) a storage medium in communication with the processor; and 3) at least one instruction set accessible by the processor and saved in the storage medium.
• the at least one instruction set is adapted to perform the methods described herein.
• the instruction set may be adapted to 1 ) receive data regarding drilling parameters characterizing ongoing wellbore drilling operations, wherein at least one of the drilling parameters is controllable; 2) utilize a statistical model to identify at least one controllable drilling parameter having significant correlation to an objective function incorporating two or more drilling performance measurements; 3) generate operational recommendations for the at least one controllable drilling parameter, wherein the recommendations are selected to optimize the objective function; and 4) export the generated operational recommendations for consideration in controlling ongoing drilling operations.
• the present disclosure is also directed to drilling rigs and other drilling equipment adapted to perform the methods described herein.
• a drilling rig system comprising: 1 ) a communication system adapted to receive data regarding at least two drilling parameters relevant to ongoing wellbore drilling operations; 2) a computer-based system according to the description herein, such as one adapted to perform the methods described herein; and 3) an output system adapted to communicate the generated operational recommendations for consideration in controlling drilling operations.
• the drilling equipment may further include a control system adapted to determine operational updates based at least in part on the generated operational recommendations and to implement at least one of the determined operational updates during the drilling operation.
• the control system may be adapted to implement at least one of the determined operational updates at least substantially automatically.
• FIG. 1 is schematic view of a well showing the environment in which the present systems and methods may be implemented;
• Fig. 2 is a flow chart of methods for updating operational parameters to optimize drilling operations
• FIG. 3 is a schematic view of systems within the scope of the present invention.
• FIG. 4 illustrates schematically a method of utilizing a moving window algorithm on a data stream
• Fig. 5 illustrates an exemplary relationship between window size and various properties of a statistical correlation that may be used in the present invention
• FIG. 6 schematically illustrates a method of utilizing a moving analysis window together with a moving pattern detection window
• Fig. 7 is a graphical illustration of a residual-based method of comparing the analysis window data with the pattern detection window data;
• Fig. 8 is a simplified graphical representation of a PCA-based method of generating operational recommendations;
• Fig. 9 illustrates the relationship between rate of penetration and weight on bit
• Fig. 10 illustrates the relationship between rate of penetration, weight on bit, and rotation rate
• Fig. 11 is a flow chart of methods of using historical data in the present systems and methods
• Fig. 12 provides representative data utilized in the present systems and methods showing the correlation of drilling parameters with rate of penetration
• Fig. 13 illustrates the correlation history of drilling parameters with mechanical specific energy (MSE) for the data in Fig. 12;
• Fig. 14 provides representative data and correlations similar to Fig. 12 but for drilling operations in a different formation
• Fig. 15 shows a correlation history of drilling parameters to ROP; a correlation history of drilling parameters to an objective function (OBJ), and a correlation history of drilling parameters to MSE;
• Fig. 16 provides additional correlation histories illustrating the impact of different objective functions
• Fig. 17 provides a correlation history of drilling parameters to a particular objective function
• Fig. 18 provides another correlation history of drilling parameters to a particular objective function
• Fig. 19 is a flow chart of a validation algorithm
• Fig. 20 is a graphical illustration of the validation algorithm.
• Fig. 1 illustrates a side view of a relatively generic drilling operation at a drill site 100.
• Fig. 1 is provided primarily to illustrate the context in which the present systems and methods may be used.
• the drill site 100 is a land based drill site having a drilling rig 102 disposed above a well 104.
• the drilling rig 102 includes a drillsthng 106 including a drill bit 108 disposed at the end thereof.
• the apparatus illustrated in Fig. 1 are shown in almost schematic form to show the representative nature thereof.
• the present systems and methods may be used in connection with any currently available drilling equipment and is expected to be usable with any future developed drilling equipment.
• the present systems and methods are not limited to land based drilling sites but may be used in connection with offshore, deepwater, arctic, and the other various environments in which drilling operations are conducted.
• While the present systems and methods may be used in connection with any drilling operation, they are expected to be used primarily in drilling operations related to the recovery of hydrocarbons, such as oil and gas. Additionally, it is noted here that references to drilling operations are intended to be understood expansively. Operators are able to remove rock from a formation using a variety of apparatus and methods, some of which are different from conventional forward drilling into virgin formation. For example, reaming operations, in a variety of implementations, also remove rock from the formation. Accordingly, the discussion herein referring to drilling parameters, drilling performance measurements, etc., refers to parameters, measurements, and performance during any of the variety of operations that cut rock away from the formation.
• drilling conditions will be used to refer generally to the conditions in the wellbore during the drilling operation.
• the drilling conditions are comprised of a variety of drilling parameters, some of which relate to the environment of the wellbore and/or formation and others that relate to the drilling activity itself.
• drilling parameters may include rate of rotation, weight on bit, characteristics of the drill bit and drillstring, mud weight, mud flow rate, lithology of the formation, pore pressure of the formation, torque, pressure, temperature, rate of penetration, mechanical specific energy, vibration measurements etc.
• some of the drilling parameters are controllable and others are not. Similarly, some may be directly measured and others must be calculated based on one or more other measured parameters.
• the drill bit 108 advances through the formation 110 at a rate known as the rate of penetration (108), which is commonly calculated as the measured depth drilled over time.
• the rate of penetration 108
• the drilling conditions necessarily change over time.
• the drilling conditions may change in manners that dramatically reduce the efficiencies of the drilling operation and/or that create less preferred operating conditions. Accordingly, research is continually seeking improved methods of predicting and detecting changes in drilling conditions. As described in the Background above, the past research has focused on monitoring a measure of drilling efficiency, the rate of penetration, and seeking to change drilling parameters to increase the rate of penetration.
• Such efforts have embodied two paradigms: 1 ) iteratively changing a single controllable drilling parameter, typically the weight on bit, while monitoring the rate of penetration until a maximum rate of penetration is obtained; and 2) monitoring the mechanical specific energy of a drilling operation to characterize one or more drilling events (founder limiters) that are limiting the rate of penetration and determining a change in the drilling parameters that will overcome the founder limiter.
• the present systems and methods provide at least one improvement over these paradigms.
• the present invention includes methods of drilling a wellbore 200.
• Fig. 2 provides an overview of the methods disclosed herein, which will be expanded upon below.
• the present methods of drilling include: 1 ) receiving data regarding ongoing drilling operations, specifically data regarding drilling parameters that characterize the drilling operations, at 202; 2) utilizing a statistical model to identify at least one controllable drilling parameter having significant correlation to drilling performance, at 204; 3) generating operational recommendations to optimize drilling performance, at 206; 4) determining operational updates, at 208; and 5) implementing the operational updates, at 210.
• the step 202 of receiving data regarding ongoing drilling operations includes receiving data regarding drilling parameters that characterize the ongoing drilling operations.
• At least one of the drilling parameters received is a controllable drilling parameter, such as rotation rate, weight on bit, mud flow rate, etc.
• the data may be received in any suitable manner using equipment that is currently available or future developed technology.
• the data regarding drilling parameters may come from any suitable source.
• data regarding some drilling parameters may be appropriately collected from surface instruments while other data may be more appropriately collected from downhole measurement devices.
• data may be received regarding the drill bit rotation rate, an exemplary drilling parameter, either from the surface equipment or from downhole equipment, or from both surface and downhole equipment.
• the surface equipment may either provide the controlled rotation rate provided as an input to the drilling equipment or a measurement of the actual bit rate downhole.
• the downhole bit rotation rate can also be measured and/or calculated using one or more downhole tools.
• Any suitable technology may be used in cooperation with the present systems and methods to provide data regarding any suitable assortment of drilling parameters, provided that the drilling parameters are related to and can be used to characterize ongoing drilling operations and provided that at least one of the drilling parameters is directly or indirectly controllable by an operator.
• the methods include, at 204, utilizing a statistical model to identify at least one controllable drilling parameter having significant correlation to an objective function, or one or more objective functions, incorporating two or more drilling performance measurements, such as ROP, MSE, vibration measurements, etc., and mathematical combinations thereof
• two or more statistical models may be used in cooperation, synchronously, iteratively, or in other arrangements to identify the significantly correlated and controllable drilling parameters.
• the statistical model may be utilized in substantially real-time utilizing the received data. Exemplary statistical models are described in further detail below.
• the statistical model relates one or more drilling parameters to at least one objective function, which incorporates two or more drilling performance measurements and determines the degree of correlation between the objective function and the drilling parameters.
• the objective function may be a mathematical relationship between the rate of penetration (ROP), mechanical specific energy (MSE), and/or mathematical combinations thereof.
• the objective function may also therefore be a function of ROP, MSE, weight on bit, drill string, bit rotation rate, torque applied to the drillsthng, torque applied to the bit, vibration measurements, hydraulic horsepower (e.g., mud flow rate, viscosity, pressure, etc.) etc., and mathematical combinations thereof. Additional details and examples of utilizing statistical methods to identify correlated drilling parameters are provided below.
• the step of generating operational recommendations at 206 includes generating recommendations for at least one controllable drilling parameter.
• the operational recommendations generated are selected to optimize an objective function, which incorporates two or more drilling performance measurements.
• the recommendations may provide qualitative recommendations, such as increase, decrease, or maintain a given drilling parameter (e.g., weight on bit, rotation rate, etc.). Additionally or alternatively, the recommendations may provide quantitative recommendations, such as to increase a drilling parameter by a particular measure or percentage or to decrease a drilling parameter to a particular value or range of values.
• the generation of operational recommendations may be a product of the statistical methods and/or may utilize inputs in addition to the output of the statistical methods.
• the statistical methods may generate operational recommendations as part of the identification of correlated drilling parameters, such as identifying the correlated parameters and the manner in which they should be adjusted or updated to optimize the drilling performance measurement or objective function.
• the operational recommendations may be subject to boundary limits, such as maximum rate of rotation, minimum acceptable mud flow rate, top-drive torque limits, etc., that represent either physical equipment limits or limits derived by consideration of other operational aspects of the drilling process. For example, there may be a minimum acceptable mud flow rate to transport drill cuttings to the surface and/or a maximum acceptable rate above which the equivalent circulating density becomes too high.
• the step of determining operational updates includes determining operational updates to at least one controllable drilling parameter, which determined operational updates are based at least in part on the generated operational recommendations.
• the determined operational update for a given drilling parameter may include directional updates and/or quantified updates.
• the determined operational update for a given drilling parameter may be selected from increase/decrease/maintain commands or may quantify the degree to which the drilling parameter should be changed, such as increasing or decreasing the weight on bit by X and increasing or decreasing the rotation rate by Y.
• the step of determining operational updates may be performed by one or more of operators (i.e., individuals at the rig site or in communication with the drilling equipment) and computer-based systems.
• operators i.e., individuals at the rig site or in communication with the drilling equipment
• computer-based systems For example, drilling equipment is being more and more automated and some implementations may be adapted to consider the operational recommendations alone or together with other data or information and determine operational updates to one or more drilling parameters.
• the drilling equipment and computer-based systems associated with the present methods may be adapted to present the operational recommendations to a user, such as an operator, who determines the operational updates based at least in part on the operational recommendations.
• the user may determine the operational updates based at least in part on the operational recommendations using "hog laws" or other experienced based methods and/or by using computer-based systems.
• the step of implementing at least one of the determined operational updates in the ongoing drilling operation may include modifying and/or maintaining at least one aspect of the ongoing drilling operations based at least in part on the determined operational updates.
• the operational updates may be automated to occur without user intervention or approval.
• the operational updates determined by a computer-based system may be presented to a user for consideration and approval before implementation. For example, the user may be presented with a visual display of the proposed determined operational updates, which the user can accept in whole or in part without substantial steps between the presentation and the implementation.
• the proposed updates may be presented with 'accept' and 'change' command buttons or controls and with 'accept all' functionality.
• the implementation of the determined operational updates may be understood to be substantially automatic as the user is not required to perform calculations or modelings to determine the operational update or to perform several manual steps to effect the implementation. Additionally or alternatively, the implementation of the determined operational updates may be effected by a user after a user or other operator has considered the operational recommendations and determined operational updates.
• the present methods and systems are capable of generating operational recommendations for at least one controllable drilling parameter based on the optimization of an objective function incorporating at least two drilling performance measurements.
• the statistical modeling utilized to identify the at least one significantly correlated controllable drilling parameter and the use of drilling performance measurements functionally related to the controllable drilling parameters facilitate the generation of such recommendations.
• Specific examples of suitable relationships and statistical models are provided below for enhanced understanding of the present systems and methods. However, it should be understood that other relationships and/or modeling techniques may be used in implementations of the above-described methods.
• Fig. 3 schematically illustrates systems within the scope of the present invention.
• the systems comprise a computer-based system 300 for use in association with drilling operations.
• the computer-based system may be a computer system, may be a network-based computing system, and/or may be a computer integrated into equipment at the drilling site.
• the computer-based system 300 comprises a processor 302, a storage medium 304, and at least one instruction set 306.
• the processor 302 is adapted to execute instructions and may include one or more processor now known or future developed that is commonly used in computing systems.
• the storage medium 304 is adapted to communicate with the processor 302 and to store data and other information, including the at least one instruction set 306.
• the storage medium 304 may include various forms of electronic storage mediums, including one or more storage mediums in communication in any suitable manner.
• the selection of appropriate processor(s) and storage medium(s) and their relationship to each other may be dependent on the particular implementation. For example, some implementations may utilize multiple processors and an instruction set adapted to utilize the multiple processors so as to increase the speed of the computing steps. Additionally or alternatively, some implementations may be based on a sufficient quantity or diversity of data that multiple storage mediums are desired or storage mediums of particular configurations are desired. Still additionally or alternatively, one or more of the components of the computer-based system may be located remotely from the other components and be connected via any suitable electronic communications system.
• some implementations of the present systems and methods may refer to historical data from other wells, which may be obtained in some implementations from a centralized server connected via networking technology.
• One of ordinary skill in the art will be able to select and configure the basic computing components to form the computer-based system.
• the computer-based system 300 of Fig. 3 is more than a processor 302 and a storage medium 304.
• the computer-based systems 300 of the present disclosure further include at least one instruction set 306 accessible by the processor and saved in the storage medium.
• the at least one instruction set 306 is adapted to perform the methods of Fig. 2 as described above and/or as described below.
• the computer-based system 300 receives data at data input 308 and exports data at data export 310.
• the at least one instruction set 306 is adapted to export the generated operational recommendations for consideration in controlling drilling operations.
• the generated operational recommendations may be exported to a display 312 for consideration by a user.
• the generated operational recommendations may be provided as an audible signal, such as up or down chimes of different characteristics to signal a recommended increase or decrease of WOB, RPM, or some other drilling parameter.
• audible indicators may be provided in any suitable format, including chimes, bells, tones, verbalized commands, etc.
• Verbal commands such as by computer generated voices, are readily implemented using modern technologies and may be an effective way of ensuring the right message is heard by the driller.
• the generated operational recommendations may be exported to a control system 314 adapted to determine at least one operational update.
• the control system 314 may be integrated into the computer- based system or may be a separate component. Additionally or alternatively, the control system 314 may be adapted to implement at least one of the determined updates during the drilling operation, automatically, substantially automatically, or upon user activation.
• some implementations of the present technologies may include drilling rig systems or components of the drilling rig system.
• the present systems may include a drilling rig system 320 that includes the computer-based system 300 described herein.
• the drilling rig system 320 of the present disclosure may include a communication system 322 and an output system 324.
• the communication system 322 may be adapted to receive data regarding at least two drilling parameters relevant to ongoing drilling operations.
• the output system 324 may be adapted to communicate the generated operational recommendations and/or the determined operational updates for consideration in controlling drilling operations.
• the communication system 322 may receive data from other parts of an oil field, from the rig and/or wellbore, and/or from another networked data source, such as the Internet.
• the output system 324 may be adapted to include displays, printers, control systems 314, or other means of exporting the generated operational recommendations and/or the determined operational updates.
• the control system 314 may be adapted to implement at least one of the determined operational updates at least substantially automatically.
• the present methods and systems may be implemented in any variety of drilling operations. Accordingly, drilling rig systems adapted to implement the methods described herein to optimize drilling performance are within the scope of the present invention. For example, various steps of the presently disclosed methods may be done utilizing computer-based systems and algorithms and the results of the presently disclosed methods may be presented to a user for consideration via one or more visual displays, such as monitors, printers, etc, or via audible prompts, as described above. Accordingly, drilling equipment including or communicating with computer-based systems adapted to perform the presently described methods are within the scope of the present invention.
• the present systems and methods are directed to optimization of an objective function incorporating two or more drilling performance measurements by determining relationships between one or more controllable drilling parameters and the objective function (or, more precisely, the mathematical combination of the two or more drilling performance measurements).
• the two or more drilling performance measurements may be embodied in one or more objective functions adapted to describe or model the performance measurement in terms of at least two controllable drilling parameters.
• relating the objective function to at least two controllable drilling parameters may provide additional benefits in the pursuit of an optimized drilling operation.
• equation (1 ) An objective function based solely on the rate of penetration is shown in equation (1 ) and is referenced at times herein to illustrate one or more of the differences between the present systems and methods and the conventional methods that merely sought to maximize the rate of penetration.
• Exemplary objective functions within the scope of the present invention are shown in equations (2) and (3).
• the objective function may be a function of two or more drilling performance measurements (e.g., ROP and/or MSE) and/or may be a function of controllable and measurable parameters.
• the objective function of equation (2) is to maximize the ratio of ROP-to-MSE (simultaneously maximizing ROP and minimizing MSE); the objective function of equation (3) is to maximize the ROP percentage increase per unit percentage increase in MSE where ⁇ ROP and ⁇ MSE are changes of ROP and MSE respectively.
• These objective functions can be used for different scenarios depending on the specific objective of the drilling operation. Note that equations (2) and (3) require a factor ⁇ to avoid a singularity. Other formulations of the objective function OBJ(MSE, ROP) to avoid a possible divide-by-zero singularity may be devised within the scope of the invention (such as using Son ⁇ y in the denominator).
• the nominal ROP 0 and MSE 0 are used to provide dimensionless values to account for varying formation dhllability conditions.
• the operational recommendation created from the model should be selected as the one that is compatible with the stick-slip mitigation.
• Another approach is to integrate the stick-slip severity (SS) into the objective functions, and equations (2)-(3) can be modified as
• OBJ(MSE, SS, ROP) ⁇ + ROP /ROP 0 ⁇ t ⁇ ⁇ determined ) ⁇
• the said stick-slip severity for both approaches can be either real-time stick-slip measurements transmitted from a downhole vibration measurement tool or a model prediction calculated from the surface torque and the drillstring geometry.
• HoleArea - ROP Accordingly, when optimizing the objective function, multiple drilling parameters may be optimized simultaneously, which, in some implementations, may provide the generated operational recommendations.
• the constituent parameters of MSE shown in equation (6) suggest that alternative means to describe the objective functions in equations (1 )-(5) may include various combinations of the independent parameters WOB, RPM, ROP, and Torque. Additionally, one or more objective functions may combine two or more of these parameters in various suitable manners; each of which is to be considered within the scope of the invention.
• some implementations of the present systems and methods may be adapted to correlate at least two drilling parameters with an objective function incorporating two or more drilling performance measurements.
• an objective function incorporating two or more drilling performance measurements.
• multiple drilling parameters can be optimized simultaneously.
• Any objective function OBJ can be expressed as a function (or relationship) of multiple drilling parameters; the expression of equation (7) utilizes two parameters for ease of illustration.
• AOBJ ⁇ - L v -Ax +— ⁇ x v -Ay (8)
• the change is achieved in two steps: a change at a first time and a second change at a subsequent time step, as seen in equation (9).
• the two paradigms for identifying parameter changes based on an objective function may produce dramatically different results.
• the system state at time t 0 is used to determine all updates.
• the sequential updates paradigm of equation (9) there is a first update corresponding to x at time t 0 .
• a second update may be processed corresponding to parameter y.
• Exemplary operational differences resulting from the mathematical differences illustrated above include an ability to identify multiple operational changes simultaneously, to obtain optimized drilling conditions more quickly, to control around the optimized conditions more smoothly, etc.
• the present systems and methods begin by receiving or collecting data regarding drilling parameters, at least one of which is controllable.
• the present technology then utilizes a statistical model, or possibly multiple statistical models, to identify at least one controllable drilling parameter that has significant correlation to an objective function incorporating two or more drilling performance measurements.
• the statistical model utilized to identify the at least one controllable drilling parameter having significant correlation to drilling performance measurements may be developed in any suitable manner. Exemplary statistical methods that may be utilized include multi-variable correlation analysis methods and/or principle component analysis methods. These statistical methods, their variations, and their analogous statistical methods are well known and understood by those in the industry.
• the statistical methods of the present methods may be understood to include at least one model that describes the relationship between the objective function and one or more of the multitude of drilling parameters.
• the statistical methods solve the model(s) for the optimal direction in the multi-dimensional parameter space to 1 ) identify the most significantly correlated drilling parameters, and 2) identify the nature of the correlation or relationship between the parameters and the objective function for use generating operational updates to the drilling parameters.
• Due to the dynamic nature of the drilling process the statistical methods of the present systems and methods adapt to changes in the dynamics in real-time, or at least substantially real-time. By substantially real-time, it is to be understood that the present systems and methods are adapted to enable operators to determine operational updates during ongoing drilling operations rather than only after the operation, or stage of operation, has been concluded.
• the types and quantity of data that can be generated or received during ongoing drilling operations can be voluminous. Performing statistical analysis on the entirety of this data may be impractical and doing so in at least substantially real-time may be effectively impossible.
• a variety of means may be used to reduce the amount of data being considered. Exemplary methods may utilize moving window analysis techniques combined with the selected statistical methods. For example, Moving Window Principal Component Analysis (MWPCA) and/or Moving Window Correlation Analysis (MWCA) may be used to identify the correlated drilling parameters and the nature of the relationship between the parameters and the objective functions.
• MWPCA Moving Window Principal Component Analysis
• MWCA Moving Window Correlation Analysis
• the term "Moving Window” refers to either a time- indexed or depth-indexed window that encompasses a stream of data. Principal Component Analysis and/or Correlation Analysis are used to extract a quantitative and/or qualitative model from the data within the window and to update the model adaptively as new data are received and obsolete data are removed.
• Fig. 4 provides an exemplary illustration of method of utilizing a moving window algorithm on a data stream 400 during an ongoing drilling operation.
• the exemplary data stream illustrates the degree of correlation (between -1 and 1 ) between various drilling parameters and the selected objective function (OBJ).
• Fig. 4 illustrates the correlation between the objective function (OBJ) and weight on bit (WOB) 402, rotations per minute (RPM) 406, torque 408, pipe pressure (PP) 410, and mud flow rate (Flow) 412; additional and/or alternative data regarding drilling parameters may be received depending on the relationships and methods implemented.
• at least one of the drilling parameters is controllable, such as the weight on bit, the rotations per minute, and the mud flow rate.
• the moving window is referred to as the analysis window 420, or the memory window, and is the window or subset of data on which the statistical methods are utilized.
• analysis window and memory window are interchangeable.
• the analysis window 420 may be positioned in the data stream to analyze the most recently received data, such as the data for the last 50 feet drilled or for the last 10 minutes of drilling, or may be positioned offset from the most recently received data by a margin, such as to allow pre-processing of one or more of the parameters or to accommodate differences in collection, measurement, and/or calculation times of different parameters.
• the analysis window 420 is preferably positioned as close as possible to the leading edge of the received data so as to render the identified, correlated controllable drilling parameters as relevant as possible in real time.
• data exiting the analysis window relates to drilling and formation conditions at earlier, potentially obsolete times/depths in the ongoing drilling operation. While the data exiting the analysis window 420 is not considered by the statistical methods, it may be archived or stored for a variety of purposes, some of which are discussed further below.
• the statistical model(s) utilized in the present systems and methods are adapted to identify at least one controllable parameter having significant correlation to an objective function incorporating at least two drilling performance measurement(s). While analyzing an entire drilling operation may provide some value, analyzing too much data (such as the entire received data for an extended reach drilling operation) may be too computationally intensive to be practical and/or may be intractable. Similarly, it will be recognized that only the most recently received data is informative of the formation characteristics to be drilled. However, as can be appreciated from generalized statistical methods, too little data, or too small of an analysis window 420, may lead to instability in the statistical models and/or instability in the identification of parameters having significant correlation.
• the ability of the statistical model(s) to accurately and stably (i.e., without erratic and overly frequent changes) identify the significantly correlated drilling parameters and their relationships to objective functions will require an analysis window 420 length greater than a minimum window size (to provide stability) and usually smaller than the complete set of data (to provide tractability and timeliness).
• some implementations may include a variable length analysis window that grows or expands in length as data is received until it reaches the predetermined window length. Such a variable length analysis window may be used when starting a drilling operation, after a change in lithology, after an abnormal drilling event, or in other circumstances.
• Fig. 5 provides an illustrative example of the relationship between window size and various properties of the correlation.
• the window size 502 is plotted on the x-axis and the stability 504 of the correlation determined using the statistical model(s) is plotted on the left y-axis 512.
• the sensitivity of the correlation to indicate changes in drilling conditions, such as lithology changes, and/or to allow the operator to optimize controllable parameters based on current drilling conditions is plotted on the right y-axis 514, and is indicated in dash-dot lines as indicative/optimization ability 506.
• the analysis window 420 is small, the correlation stability 504 is low and the ability to indicate changing conditions 506 is high.
• the operator may have updated and highly accurate identifications of the significantly correlated drilling parameters, but may receive them far too often leading to impractical implementation conditions.
• sizing the analysis window 420 to maximize the stability 502, such as at the window size 508, may result in correlations that are unable to identify, and that are non-responsive to, lithology changes or other drilling condition changes.
• an optimal window size for the analysis window 420 which optimum may depend on the sensitivities and/or preferences of the operator.
• An exemplary optimum that may be identified on the graph 500 may be window size 510 where the stability and the indicative ability intersect.
• the stability 504 and the indicative ability 506 are approximately mirrors of each other forming an intersection substantially at the middle of the transition zone.
• the graph of Fig. 5 is merely exemplary and that the stability 504 and the indicative ability 506 may have a variety of different forms resulting in a plurality of relationships between the two as possible optimums.
• the factors determining the stability and the indicative ability could be identified and the optimum window size could be identified mathematically, which could be adapted to provide an automated or substantially automated window size selection. Additionally or alternatively, other fixed window sizes may be selected by operators implementing the present systems and methods. Additionally or alternatively, two or more window sizes may be analyzed according to the present methods and used as "early warning" (fast response / short window) and "high probability” (slow response / long window) indicators.
• Exemplary fixed window lengths for the analysis window 420 may be based on either time or on drilling distance.
• the analysis window may have a length of between about 5 minutes and about 30 minutes.
• the window length may be between about 5 minutes and about 20 minutes, or between about 5 minutes and about 10 minutes.
• the lengths here described may be the predetermined window length after which the data exits the window.
• the analysis window may be between about 10 feet and about 100 feet, between about 25 feet and about 75 feet, between about 50 feet and about 100 feet, between about 50 feet and about 75 feet, or another suitable length.
• the analysis window length may be based on or proportionate to a pattern detection window length, as will be better understood with reference to the discussion below, such as being a given percentage larger than the pattern detection window. Still additionally, the analysis window length may be based at least in part on the conditions of the formation, which may be known or estimated based on past measurements and conditions on the well being drilled and/or on measurements and conditions observed while drilling a neighboring, or offset, well.
• a fixed window length may be established for an entire drilling operation or multiple window lengths may be identified for a proposed drilling operation.
• a prior drilling operation in the same field or formation may have identified depth ranges of consistent formation properties and depth ranges where the lithology or other formation property was in transition or changed frequently.
• the operators of the present systems and methods may elect a first analysis window size in the stages of the drilling operation where the formation was unchanging and a second analysis window size for stages of dynamic drilling conditions or formation changes.
• these window lengths may be determined through a hindcast analysis of the offset well drilling histories to optimize the window length as a function of depth, and perhaps to predetermine depths at which abnormal events may be expected, such as an increasing likelihood of encountering a concretion, or hard drilling interval.
• an analysis window length adapted to facilitate identification of lithology changes i.e., shorter
• the desired window size may be large enough to generate stable correlation estimates and small enough to be able to resolve changes in lithology.
• some implementations may establish the window length for the entire drilling operation, whether constant or varied over the operation as described above, and others may allow an operator to adjust the window length in response to observations and/or conditions during the drilling operation. For example, a bit may be dulling or may experience other degradations towards the end of a drilling interval or operation.
• the operator may choose window parameters to help preserve the bit to make it to the well total depth or some other milestone for optimizing the drilling operation. For example, the window parameters may be selected to allow the operator to respond more quickly to an increasing formation hardness.
• some implementations of the present systems and methods may include a variable analysis window length. While the above description provides one example of an analysis window length that varies during the course of the drilling operation, the length is determined beforehand rather than in response to conditions encountered during drilling and is primarily available only when a planned drilling operation is in a formation expected to be analogous to a prior drilling operation. Due to the variability in formations, such applications may be limited.
• Fig. 6 provides an illustrative data stream 600 similar to the stream of Fig. 4.
• the pattern detection window 630 includes received data just prior to the data entering the analysis window 620. Accordingly, the pattern detection window 630 and methods associated therewith may be considered an example of pre-processing methods that are performed on the received data before the statistical model is utilized to identify controllable drilling parameters having significant correlation to objective functions.
• the ability of the statistical models to identify the significantly correlated drilling parameters is dependent on the data in the analysis window 620 being applicable to the future operations.
• the drilling dynamics of the drilling operations in the analysis window should be at least somewhat similar to the drilling dynamics to be experienced in future operations if the statistical models are to produce relevant parameter identifications and/or operational recommendations.
• the pattern detection window 630 provides a smaller window of data that can be compared to the data in the analysis window 620 to identify instances where the underlying dynamics of the drilling operation change, such as when the drilling conditions change significantly and abruptly. Such instances may occur when there is a lithology change in the formation or some other change in the formation through which the drilling progresses.
• the drilling conditions or dynamics may change abruptly for other reasons, such as for any of the various unexpected conditions that can be encountered during drilling operations, such as bit dulling or even severe damage to the bit.
• the dual window approach allows the present systems and methods to capture the current process dynamics and to compare those dynamics with the dynamics of the drilling operation captured in the analysis window.
• the analysis window 620 is longer than the pattern detection window 630.
• the analysis window 620 may establish a baseline understanding or characterization of the formation and the drilling conditions. As described above, the analysis window 620 is sized or adapted to provide a stable characterization of the formation lithology.
• the pattern detection window 630 in contrast, is adapted to provide an indicator of changes in the formation or other drilling condition. Essentially, the pattern detection window 630 serves as a means to confirm or check the assumptions established by the analysis window 620. There are numerous ways to check whether data in a second data set is consistent with or an outlier to a first data set. Various statistical means may be used and the selection of a particular method may depend on the format or nature of the data to be considered.
• the length of the pattern detection window 630 may be determined in one or more of the manners described above for the determination of the analysis window length. For example, it may be longer or shorter depending on the expected formation conditions, whether based on offset wells, based on hindcasting from the well being drilled, or based on a combination of these and/or other factors.
• the size of the pattern detection window and the size of the analysis window may be tied to each other, such as one being a predetermined fraction of the other.
• the length of the pattern detection window may be 25% of the length of the analysis window. In other implementations, it may be 20% as long, 15% as long, 10% as long, or 5% as long.
• the pattern detection window may be substantially smaller than the analysis window, such as less than 5% as long as the analysis window, to better identify changes in lithology or other changes in drilling conditions.
• the length of the pattern detection window may be related to the typical length of formation depth intervals that may affect the drilling process. For example, pattern detection window lengths on the order of 2 to 3 feet may be appropriate for wells in formations that may have typical thicknesses of 10 to 30 feet. In particular, these windows lengths may be selected in consideration of the typical rate of drilling wherein shorter windows in depth may correspond to slower formation penetration rates.
• One exemplary method for use in systems where the data stream comprises data regarding drilling parameters utilizes probability distributions to determine whether the second data set falls within or outside a specified level of significance of the estimated probability distribution.
• the drilling parameter data in the analysis window 620 may be used to develop a probability distribution representing the parameter space in which additional data, such as data in the pattern detection window 630, is expected to fall.
• the outlier in the pattern detection window may indicate a change in lithology or other drilling condition.
• the present systems and methods may respond to an outlier indication in a variety of manners, as discussed further herein.
• Another exemplary method for comparing the pattern detection window may respond to an outlier indication in a variety of manners, as discussed further herein.
• the residual-based methods may be implemented regardless of the statistical methods used to identify the significantly correlated drilling parameters, but will be described here in connection with methods utilizing principle component analysis.
• PCA principal component analysis
• the PCA calculation renders a total of K eigenvectors and K eigenvalues for the data within the analysis window. The greater the eigenvalue, the more important is the direction of the corresponding eigenvector.
• the m principal vectors define a principal space 702 representing the normal or expected drilling condition based on the data in the analysis window, m may be computed as the smallest positive integer that satisfies the following criteria equation:
• X(i) must be cast as a single column vector, i.e. a concatenation of all the x's within each pattern detection window.
• the pattern detection window X(i) has size K-W p by 1
• the analysis window data X has dimension of K-W p by W m .
• the data vector X(i) 704 representing the data in the pattern detection window will lie within the principal space 702 when the drilling conditions are unchanged. However, when the formation lithology changes or when other drilling conditions result in a change in the drilling conditions, and therefore a change in the drilling parameter data in the pattern detection window, X(i) will be outside the principal space 702, such as indicated in Fig. 7.
• a vector is derived, which can be referred to as the "residual vector" 708 as seen in equation (12):
• V [v ⁇ ,---,v m ] ⁇ w xm are associated with the pattern detection window.
• the dot product (X(i) -v k ) is the projection of vector X(i) (representing the pattern detection window data) on the ⁇ t h principal vector v k .
• the amplitude of the residue can be obtained by calculating the Mahalanobis distance (X - ⁇ ) ⁇ ⁇ ⁇ 1 (X - ⁇ ), where ⁇ is the estimated mean of X, and ⁇ is the estimated covariance matrix of X.
• This definition eliminates the need to pre-select the number of eigenvectors m in the first formula, while providing practically similar results.
• the norm of residual vector R 708 is nothing but the distance from a drilling data record to its projection 706 in the principal space (as shown in Fig. 7).
• the norm of the residual vector 708 is a measure of how biased the current drilling condition, or the conditions in the pattern detection window, is from the drilling conditions characterized by the analysis window. For example, if the norm of the residual vector is 0, the data in the pattern detection window is consistent with the data in the analysis window. However, residual vector norms greater than a threshold value represent abnormal or unexpected drilling conditions. As discussed above, an indication that the developing drilling conditions (i.e., the data in the pattern detection window) deviate from the data in the analysis window may be responded to in a variety of ways according to the present systems and methods. As illustrative examples, the present systems and methods may respond by repeating the step of identifying the significantly correlated, controllable drilling parameters.
• analysis window 620 may be emptied to be repopulated with data representative of the changed drilling condition. Additionally or alternatively, archival data may be accessed until the analysis window has been sufficiently repopulated with data representative of the changed condition.
• the present systems and methods include receiving data regarding drilling parameters and utilizing a statistical model to identify at least one controllable drilling parameter having significant correlation to at least one drilling performance measurement.
• the foregoing discussion highlights the various manners in which the data may be received and how various statistical methods and/or models can be used to identify the significantly correlated drilling parameters and, in some implementations, generate operational recommendations for at least one controllable drilling parameter.
• PCA moving window principal component analysis
• PCA is a powerful data analysis tool that can efficiently discover dominant patterns in high dimensional data and represent the high dimensional data volume in a much lower dimensional space by using linear dependence among the parameters. See, e.g., IT. Jolliffe, Principal Component Analysis, Springer-Verlag, New York, Inc., 2002; and S. Wold, Principal Component Analysis, Chemometrics and Intelligent Laboratory Systems, 2 (1987) 37-52. PCA has been widely used for computer vision, bio-informatics, medical imaging and many other applications.
• Principal Values eigenvalues of the covariance matrix of all parameters
• Principal Vectors eigenvectors of the covariance matrix of a multi-dimensional data set
• the Principal Vectors are ordered in decreasing order according to the corresponding Principal Values.
• Each principal vector explains a percentage of data variation proportional to its principal value.
• each data record in the underlying data set can be well approximated by a linear combination of the first few dominant Principal Vectors.
• PCA can be applied to data in an online and continuous manner to extract the dynamic relationship between parameters of interest, which in this case are the ROP, MSE, and the other drilling parameters (WOB, RPM, Mud Rate, Pump Pressure, Vibrations etc.).
• the extracted linear relationship between ROP, MSE, and the drilling parameters can be used to guide changes of drilling parameters in order to move drilling performance in a favorable direction.
• quantitative operational recommendations can be generated.
• correlation analysis between ROP, MSE, and drilling parameters can be used to provide a locally optimal "gradient" direction that indicates how the drilling parameters can be changed so as to obtain the steepest increase in whatever objective function to be maximized. It should be recognized without departing from the scope of the invention that alternative objective functions may be comprised such that the optimal value corresponds to a minimum, in which case the steepest decrease in the objective function is determined.
• the present systems and methods take as input a window of drilling data from time or depth instant, / to ⁇ i+W p - 1), where (i+Wp-1) is the present index and W 9 is a pre-selected pattern detection window size.
• a proper W 9 can be selected by the user based on prior geological or geophysical knowledge about the subsurface to be drilled, or through an automatic selection algorithm as discussed above, and can be changed anytime during the drilling process. For a given W p , values of all the drilling parameters within the pattern detection window are known, i.e.
• PCA on this subset of drilling data for each point in time (or depth) provides the axes of the ellipsoidal region that encompasses the points, shown as the plurality of ellipses 802 in Fig. 8.
• the vertical axis 804 in Fig. 8 identifies the direction of increasing OBJ.
• the arrow 806 in each ellipse 802 shows the direction of change that provides a maximum increase in OBJ within the ellipse 802.
• Equation (13) provides one way to estimate the mean vector and covariance matrix; but other methods may also apply.
• the data may be expressed in dimensionless units by normalizing the data, e.g. dividing each by a standardized maximum value which would make each entry in the vector a fraction between 0 and 1.
• a moving window PCA algorithm may be used to update the mean vector and covariance matrix in equation (13), as well as eigenvalues and eigenvectors of the covariance matrix for each time window. See, e.g., Xun Wang, Uwe Kruger, and George W. Irwin, Process Monitoring Approach Using Fast Moving Window PCA, Ind. Eng. Chem. Res. 2005, 44, 5691 -5702. In this approach, the impact of obsolete data points is removed from the mean and covariance, and the impact from new data points is added without having to re-compute the entire matrix.
• An alternative method to compute the mean and covariance in a dynamic manner is the method of exponential filtering. In this case, one does not need to store in memory all the pattern vectors belonging to an analysis window. The analysis window is replaced by an exponential weighting that decays rapidly for older pattern vectors and weights the most recent ones highly.
• the formulas that enable this method are given below:
• ⁇ (t) A(t) - X(t)[X(t)] ⁇ [0083]
• some implementations may use different weighting function methods for the analysis and pattern detection windows, including linear, quadratic, Hanning or half-Hanning taper windows, etc. These windows would be used to gradually decrease the effect on the solution of older data in the analysis window that is about to exit the window. Such methods may tend to generate smoother transitions as the underlying drilling conditions change.
• ⁇ is known as the "memory parameter", and although it doesn't strictly imply a fixed analysis window, it produces results comparable to using an analysis window of size roughly 1/ ⁇ .
• Suitable values of ⁇ can be chosen to be 0.1/W p or less to obtain sufficient samples to compute the mean and covariance matrix reliably for a given pattern detection window size W p .
• the residue changes faster for larger values of ⁇ , and the detection of change is more sensitive, but this can also lead to too many false alarms due to temporary excursions of the data. Conversely, too small a value for ⁇ can result in very slow detection and missed events.
• the method may involve two or more values of the smoothing parameter ⁇ in order develop "fast” and “slow” process parameters as discussed above.
• other weighting schemes may be applied to the data, with the exponential weighting being a special case. Examples include weighting based on confidence-intervals around measurements in X, or other desired sub-sampling schemes.
• V gradient vector
• the covariance matrix is ranked in the sequence such that correlations of OBJ to all other parameters are in the first column of the matrix (or row due to symmetry of the matrix).
• V opt provides the optimal direction from the current mean values of drilling parameters that would result in maximum rate of OBJ increase. This adjustment is subject to the constraint that the system does not stray outside the region containing most of the observed data, or normal operating region.
• the normal operating region is outlined by the constant L in the above equation.
• L can be set as a large percentage number (e.g. 90%) to capture a region that contains most of the drilling data. It can be proven through standard penalty function method for solving linear constrained optimization problems that the solution to the above problem can be written as,
• V opt jL( ⁇ - C) , (15) where ⁇ C is exactly the vector containing all correlation coefficients between OBJ and the other drilling variables.
• Fig. 9 illustrates the relatively simplified analysis where rate of penetration is correlated to the weight on bit and all other drilling parameters are assumed to be fixed. As is understood, rate of penetration increase is constrained by founder points and concerns of potential damage to drilling equipment. The present systems and methods provide operational recommendations to enable operators to achieve highest possible ROP without risking the equipment.
• Fig. 9 illustrates a commonly accepted relationship between rate of penetration 902, along the y-axis, and weight on bit 904, along the x- axis. Specifically, the graph in Fig.
• FIG. 9 illustrates the linear relationship between the rate of penetration and the weight on bit until the founder point is reached, which can be identified as the point where the tangent to the ROP-WOB curve 906 separates from the linear segment correlated from the data points in ellipse 908.
• the linear regime 908 below the founder point
• correlation between rate of penetration and weight on bit data will suggest increasing weight on bit to achieve higher rate of penetration.
• the present systems and methods may utilize objective functions to represent drilling performance, which objective functions may incorporate two or more drilling performance measurements.
• objective functions may be utilized that relate rate of penetration and MSE so as to identify the optimum rate of penetration as the highest rate of penetration without increasing the MSE.
• An exemplary relationship may be the ROP-to-MSE ratio. This objective function attempts to achieve optimal tradeoff between drilling speed and energy consumption efficiency during drilling. In other words, it maximizes the ROP per unit energy input.
• the marginal increase in ROP relative to the marginal increase in MSE may be considered important. In this case, it is more reasonable to use an objective function that is the ratio of percentage increase in ROP to percentage increase in MSE.
• Additional relationships may be implemented as the objective function. For example, suitable relationships may be implemented to mathematically identify the founder point 910 where the slope of the tangent to the curve begins to decrease. Operational recommendations may be generated to increase the rate of penetration to this point on the rate of penetration curve without exceeding the founder point.
• Fig. 10 shows scatter plot 1000 of ROP-RPM-WOB data within a 100 ft interval received from a real well dataset (i.e., the window size illustrated is 100 feet).
• the rate of penetration 1002, the rotations per minute 1004, and the weight on bit 1006 are plotted along the indicated axes.
• Statistical analysis such as PCA analysis or correlation analysis, is able to identify the optimal direction in RPM-WOB space to achieve higher ROP, illustrated by vector 1008.
• the present systems and methods may generate a directional or qualitative operational recommendation for the two or more drilling parameters and/or may provide a quantitative operational recommendation, which may include an incremental change to a drilling parameter and/or a target parameter value.
• the present systems and methods may utilize a dual-window analysis method in which the received data is analyzed in a pattern detection window 630 before passing into the analysis window 620.
• the use of the dual-window method enables the systems and operators to determine if the current drilling conditions are consistent with the data in the analysis window.
• the present statistical methods can be computationally intensive to perform on a new set of data at each data point. For this reason, the moving window methodology may be employed to facilitate and accelerate the systems and methods.
• a single moving window technique may be less accurate, and possibly misleading, when incoming data characterizes drilling conditions divergent from past drilling conditions.
• the use of a dual-window methodology may enable the operator to determine whether an abnormal event or some other significant change in the underlying drilling conditions may have occurred, in which case the drilling operator may be alerted to a possible downhole event that requires further investigation.
• the present systems and methods may empty the analysis window 620, which may include deleting the data therein and/or moving the data to an archive or for use in other methods.
• the present systems and methods rely upon data in the analysis window to generate operational recommendations.
• the present systems and methods may be adapted to indicate to the operator that data is being collected before an operational recommendation can be generated. Additionally or alternatively, the present systems and methods may be adapted to vary the size of the analysis window following the identification of a change in drilling conditions, such as by the occurrence of an abnormal vector in the above residual-based methods.
• the analysis window may be adapted to be the size of the data in the pattern detection window and to grow as additional data is received until reaching its original or standard length.
• the present systems and methods may be able to continue generating operational recommendations despite the change in drilling conditions, which is precisely the time when recommendations are most desirable.
• some implementations may utilize a historical data matching algorithm to continue generating operational recommendations despite a change in drilling conditions or a detection of an abnormal event.
• An exemplary flow chart 1100 is illustrated in Fig. 11 for facilitating discussion.
• the historical data matching algorithms are premised on the understanding that drilling operations are analogous between different depths of the same well or between different wells drilled in the same or similar fields. For example, adjacent wells in the same field may be expected to encounter similar formations at similar depth ranges. Accordingly, a drilling condition identified as new to the present dual-window methods may be similar or even identical to segments of previous drilling operations.
• some implementations may begin as described above, by identifying correlated drilling parameters and/or generating operational recommendations based on data in the analysis window, at 1102.
• the pattern-detection window data may be compared against the analysis window data, at 1104, to determine whether an abnormal drilling condition or event is occurring, at 1106. If the drilling and/or formation conditions have not changed and there is not another abnormal drilling event, the methods may continue as described above and as illustrated by flow path 1108. However, if an abnormal drilling condition or event is identified at 1106, the method may proceed to identify historical data analogous to the pattern detection data, at 1110.
• the identified historical data may be used to populate a substitute analysis window, at 1112, while the received data continues to populate the analysis window, at 1114. While doing so, the method may calculate the consistency of the received data with the identified historical data in the same way that the pattern detection window data is compared with the analysis window data. The received data continues to accumulate in the analysis window while the method checks to see if there is sufficient data in the analysis window, at 1116. While the analysis window is insufficiently populated, the method may utilize the substitute analysis window to identify correlated drilling parameters and to generate operational recommendations, at 1118. When the analysis window has accumulated sufficient received data, the method returns to identifying correlated drilling parameters and generating operational recommendations based upon the analysis window, at 1102. Alternatively, in some implementations, the historical data may be used to anticipate an upcoming abnormal event and thereby be prepared to switch the buffers as described above, to facilitate more rapid response to the changing conditions.
• the flow chart 1100 of Fig. 11 is merely representative of the manners in which data in a historical library may be used in augmenting the present systems and methods.
• the data may be indexed or otherwise categorized to identify data patterns leading up to an abnormal drilling condition or event or a change in drilling condition.
• the historical data and the received data, whether in the analysis window or the pattern detection window, may be compared and matched using any suitable and standard pattern recognition techniques, including those based on principal vector analysis.
• Another adaptation of the present systems and methods particularly suited for circumstances when abnormal drilling conditions or events are identified may include systems or methods for informing the operator that the results or recommendations from the present methods are preliminary, based on limited data, based on historic data, or otherwise different from the standard outputs.
• the results and recommendations may be accompanied by an asterisk or color-coded such that an operator considering a generated operational recommendation will know that the generated recommendation may not merit the same consideration as a standard recommendation from the present systems and methods.
• the system may respond to the standard button push with a request to reconfirm knowing that the recommendation is based on historical (or incomplete) data.
• the notice to the operator may be best given by audible signal or other sensory signal.
• the present systems and methods may be adapted to detect, classify, and/or mitigate abnormal drilling events.
• its "signature” which is comprised of the set of drilling parameters and possibly other associated indirectly estimated parameters, e.g. the rock type, can be stored in a historical database. Signatures of new abnormal events can then be automatically compared to previous ones in the database to enable rapid event diagnosis. This can be done through many different data mining technologies. Exemplary methodologies include the PCA-based residual analysis, such as was discussed above for identification of abnormal conditions. The residual analysis introduced above provides tools and methods to detect the occurrence of abnormal drilling events or conditions.
• the present systems and methods can quickly identify the abnormality as a drilling event or condition rather than a change in formation properties.
• the present systems and methods may be adapted to identify the type of drilling event and appropriate steps to mitigate the abnormality, such as operational recommendations to reduce vibrations. The ability to identify an abnormal drilling event at its onset will allow timely adjustment in drilling operations to mitigate the problem and avoid further damage.
• the received data is expected to have a signature. Or rather, accumulations of data points are expected to carry identifiable information, or proverbial signatures or fingerprints.
• received data corresponding to abnormal drilling events such as the abnormal vectors discussed above, may be clustered together for identification. The signatures of these clusters are then compared to benchmark signatures (extracted from previously studied and labeled drilling data) of different abnormal events. This categorization will enable quick identification of the cause of the abnormal events.
• clustering There are many different methods of clustering. In particular, popular methods known as K-means clustering, Classification and Regression Trees (CART), Bayesian methods and many of their variants are commonly available in most data processing software. Any suitable clustering methodology may be used.
• FIG. 12 The first example presented here is taken from the dataset for a representative well. Rate of penetration (ROP) was used as the objective function in this case.
• the top plot in Fig. 12 is the history of V opt .
• Each vertical line in the plot shows the correlations of all drilling parameters, and hence V opt , with ROP at each drilling data recording point. Strong colors indicate strong correlation.
• the bottom two plots of the actual drilling variables we can see large natural variability in all drilling variables, which indicates robustness in the correlation calculation. It is seen from this dataset that correlation varies significantly, with strong negative correlation with WOB and positive correlation with RPM. Such observation suggests reducing WOB and increasing RPM to improve drilling performance.
• Fig. 13 shows the correlation history of drilling parameters with MSE for the same dataset.
• WOB in this case is positively correlated to MSE during most of the drilling process (as it is desirable to reduce WOB to minimize MSE in the drilling process). This confirms the validity of the recommendation to reduce WOB based on ROP correlation. Combining with the result in Fig. 12, lowering WOB will lead to a simultaneous increase in ROP and reduction in MSE for this case.
• This example shows the potential improvement that can be made to current drilling practice when, alternatively or collectively, (1 ) two or more controllable drilling parameters are varied simultaneous, or (2) two or more drilling performance measurements are incorporated into an objective function.
• the strong negative correlation between ROP and MSE is likely due to drilling in an inefficient regime of the ROP curve dominated by stick-slip vibration dysfunction. Referring back to Fig. 9, the drilling system is apparently operating beyond both the founder point and the peak ROP,
• FIG. 15 A third example is shown in Fig. 15.
• the top plot shows correlation history of drilling parameters to ROP and the middle plot shows correlation history of drilling parameters to (1 +ROP)/(1 +MSE), which is denoted as OBJ in this case.
• the patterns in these two plots are almost identical, indicating that the operational recommendations from the present systems and methods will be similar using either objective function. This is confirmed by the correlation history to MSE in the bottom plot.
• the correlation history to inverse of MSE also matched the ROP correlation history.
• Fig. 19 schematically illustrates a self-validation algorithm 1900 developed using actual drilling data.
• Counti counts the number of occurrences in actual drilling data where changes in the recorded drilling parameters are close to the operational recommendations that would have been suggested by the present systems and methods.
• Count2 counts, among all occurrences included in Counti , the number of occurrences where the objective function, in this case ROP, actually increased. The ratio between these two is one indicator of the effectiveness of the present systems and methods.
• a comparison step 1904 is conducted.
• the comparison 1904 begins by computing a MWPCA correlation vector 1906 (or other form of correlation vector).
• the actual drilling data is then normalized at 1908 using moving window averages and standard deviations. The manner in which the actual data is normalized may depend on the manner in which the correlation vector 1906 is computed.
• count2 is increased by one for each time that the ROP increased, such as at 1914.
• the count2 is increased.
• the effectiveness of the present methods is evaluated or determined by dividing the count2 by the counti .
• Fig. 20 provides a graphical illustration of this method for evaluating the effectiveness of the present systems and methods.
• the top row of vectors 2002 is an interval of analysis, and the solid arrows 2004 indicate the direction of the actual change in drilling parameters.
• the dashed arrows 2006 show the change that would have been recommended by the present systems and methods to increase ROP.
• these vectors are sufficiently close (e.g., the dot product is greater than 0.8), then it is considered to be a valid comparison interval. Those intervals in which there is too much difference are shaded and are not used in this analysis.
• the second row 2008 shows an arrow 2010 pointing upwards.
• the "Benchmark Performance” is the overall frequency of ROP increase in the entire well dataset
• the "DAS Performance” is the frequency of ROP increase among the data records where the actual changes in drilling variables are at least 80% similar to the operational recommendations that would have been generated by the present systems and methods.
• the blocks, or steps may represent expressions and/or actions to be performed by functionally equivalent circuits or other logic devices.
• the illustrated blocks may, but are not required to, represent executable instructions that cause a computer, processor, and/or other logic device to respond, to perform an action, to change states, to generate an output or display, and/or to make decisions.
• the term "and/or" placed between a first entity and a second entity means one of (1 ) the first entity, (2) the second entity, and (3) the first entity and the second entity.
• Multiple entities listed with “and/or” should be construed in the same manner, i.e., "one or more" of the entities so conjoined.
• Other entities may optionally be present other than the entities specifically identified by the "and/or” clause, whether related or unrelated to those entities specifically identified.
• a reference to "A and/or B", when used in conjunction with open-ended language such as “comprising” can refer, in one embodiment, to A only (optionally including entities, other than B); in another embodiment, to B only (optionally including entities other than A); in yet another embodiment, to both A and B (optionally including other entities).
• These entities may refer to elements, actions, structures, steps, operations, values, and the like.
• the phrase "at least one,” in reference to a list of one or more entities should be understood to mean at least one entity selected from any one or more of the entity in the list of entities, but not necessarily including at least one of each and every entity specifically listed within the list of entities and not excluding any combinations of entities in the list of entities.
• This definition also allows that entities may optionally be present other than the entities specifically identified within the list of entities to which the phrase "at least one" refers, whether related or unrelated to those entities specifically identified.
• At least one of A and B can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including entities other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including entities other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other entities).
• each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C", “one or more of A, B, or C” and “A, B, and/or C” may mean A alone, B alone, C alone, A and B together, A and C together, B and C together, A, B and C together, and optionally any of the above in combination with at least one other entity.
• a method of drilling a wellbore comprising:
• drilling parameters characterizing ongoing wellbore drilling operations; wherein at least one of the drilling parameters is controllable;
• the objective function is based on one or more of: rate of penetration, mechanical specific energy, weight on bit, dhllstring rotation rate, bit rotation rate, torque applied to the drillstring, torque applied to the bit, vibration measurements, hydraulic horsepower, and mathematical combinations thereof.
• the analysis window accumulates data based on at least one of time and depth for a length of time and/or depth; and wherein the length of the analysis window is selected to provide a stable statistical model and to enable identification of lithology changes.
• utilizing the statistical model to update the identified drilling parameters comprises: 1 ) emptying the analysis window of data upon identification of an abnormal event, 2) populating the analysis window with received data over time, 3) identifying at least one controllable drilling parameter having significant correlation to an objective function incorporating two or more drilling performance measurements, and 4) repeating the generating, determining, and implementing steps during the ongoing drilling operation; and wherein generating operational recommendations for at least one controllable drilling parameter is based at least in part on historical data while the analysis window is being populated with received data.
• a computer-based system for use in association with drilling operations comprising:
• a processor adapted to execute instructions
• a storage medium in communication with the processor; and at least one instruction set accessible by the processor and saved in the storage medium; wherein the at least one instruction set is adapted to:
• drilling parameters characterizing ongoing wellbore drilling operations; wherein at least one of the drilling parameters is controllable;
• updating the identification of the significantly correlated parameters model comprises: 1 ) emptying the analysis window of data upon identification of an abnormal event, 2) populating the analysis window with received data over time, and 3) identifying at least one controllable drilling parameter having significant correlation to the objective function; and 4) repeating the generating and exporting steps during the ongoing drilling operation; and wherein generating operational recommendations to the at least one controllable drilling parameter is based at least in part on historical data while the analysis window is being populated with received data.
• a drilling rig system comprising:
• a communication system adapted to receive data regarding at least one drilling parameter relevant to ongoing wellbore drilling operations
• an output system adapted to communicate the generated operational recommendations for consideration in controlling drilling operations.
• a drilling rig system comprising:
• a communication system adapted to receive data regarding at least one drilling parameter relevant to ongoing wellbore drilling operations
• an output system adapted to communicate the generated operational recommendations for consideration in controlling drilling operations.
• a method for extracting hydrocarbons from a subsurface region comprising:

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• 2010
  • 2010-06-28 EA EA201270252A patent/EA201270252A1/ru unknown
  • 2010-06-28 CN CN2010800350749A patent/CN102472825A/zh active Pending
  • 2010-06-28 EP EP10806796A patent/EP2462474A1/de not_active Withdrawn
  • 2010-06-28 CA CA2767370A patent/CA2767370A1/en not_active Abandoned
  • 2010-06-28 WO PCT/US2010/040195 patent/WO2011016927A1/en active Application Filing
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